* simple failsafe debug
* simplify areSticksActive
use getRcDeflectionAbs and fix unitTest
* bugfix to require stick input to re-take control
* small refactor
* Added RNSR to the OSD
* filtering with pt1
* update pgconfig ver
* rssi_smoothness and proper define wrapping
* missing define wrap
* smoothing moved to updateRSSI
* minor comment update
* fixed rx tests
Co-authored-by: Tony Cabello <>
Co-authored-by: J Blackman <blckmn@users.noreply.github.com>
fixes indefinite climb in max_alt mode
fixes altitude control issues when baro_hardware was disabled
fixes an error causing GPS trust to not calculate the baro factor correctly
attenuates rescue velocity_i correctly when descending
fixes velocity Iterm attenuation when close to home
logs the final GPS trust value
allow a little pitch and roll when landing
improves disarm by detecting ground effect
use floats for smoothness
refactor and simplify yaw
re-name idleTasks to setReturnAltitude
descend in level mode when sanity checks abort, rather than disarming immediately
PT3 filtering on upsampled pitch angle instead of pitch angle rate of change limiter
remove velocity attenuation when not pointing to home
allow some roll and pitch in landing phase to counter drift
include sanity check on altitude gain in climb phase
include check for 3D fix in min sats sanity check
acquire pitch and roll more smoothly when they commence
simple smoothing of baro while disarmed for better zero
re-name fields
The Watt hours used element was added per a feature request to give
another way of interpreting the battery usage. It was also added as a
post flight stat to show consumption similar to the mAh post flight
stat. This once again is just giving pilots another option that some may
find useful.
Disarm on crash flip recovery or impact while in do nothing mode
add blackbox headers for new fields
rearrange altitude factors
fix ibus uint16 for estimatedVario
update GPS altitude at 120hz
get GPS derivative from error
PT2 filter on GPS derivative
remove acceleration element
move altitude filtering to position.c
calculate altitude derivative in position.c for vario
filter vario with PT1
update pg in position and baro
field and test tuning from field tests
land 3x faster from higher altitude
PT2 vario for checking GPS
Extended DSHOT telemetry
Fixed broken unit testing
Rebased to master
Extended DSHOT telemetry
Added DSHOT ESC fail to OSD warnings
Initial extended DSHOT implementation
DSHOT telemetry ranges readjusted
Added shot_telemetry_data to cli
Added DSHOT telemetry warnings
Added extended DSHOT telemetry temperature data to osd elements
Fixed DSHOT telemetry osd warnings
Make cli dshot telemetry types human readable
Fixed ESC temperature OSD element
Added extended dshot telemetry enable command to dshot command queue to enable it in tryArm function.
Fixed broken automated unit testing
Fixed text output for dshot_telemetry_data cli command
Decode extended telemetry only when it has been activated in the ESC
DSHOT extended telemetry is only enabled when an extended telemetry enable frame is being processed
Fixed broken automated unit testing
Update tail's dshot command in queue when running blocking commands, so extended dshot telemetry command responses can be associated to their corresponding extended dshot telemetry enable/disable command request
Added clariffication to dshot_get_telemetry_type_to_decode to explain mechanish used for processing DSHOT_CMD_EXTENDED_TELEMETRY_ENABLE response
Tabs cleanup
Added dshot motor stop fix when writting blocking commands
Added extended DSHOT telemetry to osd warnings
Fixed extended DSHOT telemetry in osd elements
Implemented msp extended dshot telemetry
Optimized osd warnings
Fixed code style
Added max temp to osd stats
Fixed automated unit testing
Fixed broken automated unit testing
Fixed missing extended dshot telemetry voltage and wrong current
Fixed unadverted change in gitignore file
Print esc number besides max esc tempetature in osd stats
issues and some other minor issues
ESC temperature is coded as an uint8 going from 0 to 255. Updated osd config esc_temp_alarm from int8_t to uint8_t to match esc temperature coding
issues and some other minor issues
Enable extended dshot telemetry when no esc sensors avaliable and dshot telemetry is enabled
Arranged dshot.h header and removed unnecessary headers from dshot.c
Updated dshot_telemetry_data cli command output
Fixed dshot_telemetry_data command
motor_output_unittest fixed
Fixed motor number printing in dshot_telemetry_data cli command
fixed motor_output_unittest
Merged dshot_telemetry_data into dshot_telemetry_info cli command
Fixed tabs
Fixed motor_output_unittest
Support extended DSHOT telemetry on DJI FPV
Fixed Compiling fails without USE_ESC_SENSOR and USE_DSHOT_TELEMETRY defines.
Fixed whencompiling without USE_ESC_SENSOR and USE_DSHOT_TELEMETRY
Reworked so code can be compiled with USE_ESC_SENSOR and USE_DSHOT_TELEMETRY separately
Enabling EDT the correct way
Removed unecessary conversions
Changed motorIndex datatype to uint8_t in dshot functions
single minimum GPS satellite setting
single required GPS satellite setting
CLI Baro vs GPS trust user interface
GPS trust refactoring
allow arming with GPS_FIX even if not enough sats
required sats must be present to arm
set required sat count to 8
add blackbox headers
convert pressure to altitude early
remove median filter
PT2 filtering upsampled to altitude function in position.c - thanks KarateBrot
baro task synced to position task - thanks Steve
PT2 implementation - thanks KarateBrot
ground altitude from filtered altitude
baro cali by average of calibration samples over cal period
adjust vario and smoothing defaults
don't say haveBaroAlt until cal is complete
reduce PIDs since Baro is faster
add baro smoothing values to blackbox header
Co-Authored-By: Jan Post <post@stud.tu-darmstadt.de>
Co-Authored-By: Steve Evans <SteveCEvans@users.noreply.github.com>
Update to anti-gravity, including removal of the old Step mode, ability to adjust the P contribution (thanks @Limon), PT2 smoothed derivative model, inherent limiting of P boost during extremely fast stick travels to minimise P oscillations, less I during the middle of a throttle up, no I boost on yaw, add hz to cutoff labels
No antigravity on yaw, fix longstanding typo
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